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Sub: Remove two unused functions

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This commit is contained in:
Jacob Walser 2017-04-07 14:08:16 -04:00
parent 563402c41d
commit 1ee1c01e43
2 changed files with 0 additions and 16 deletions
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2
ArduSub/Sub.h
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@ -651,10 +651,8 @@ private:
uint32_t perf_info_get_num_dropped(); uint32_t perf_info_get_num_dropped();
Vector3f pv_location_to_vector(const Location& loc); Vector3f pv_location_to_vector(const Location& loc);
float pv_alt_above_origin(float alt_above_home_cm); float pv_alt_above_origin(float alt_above_home_cm);
float pv_alt_above_home(float alt_above_origin_cm);
float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination); float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination);
float pv_get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination); float pv_get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination);
float pv_distance_to_home_cm(const Vector3f &destination);
void init_rc_in(); void init_rc_in();
void init_rc_out(); void init_rc_out();
void enable_motor_output(); void enable_motor_output();

14
ArduSub/position_vector.cpp
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@ -22,13 +22,6 @@ float Sub::pv_alt_above_origin(float alt_above_home_cm)
return alt_above_home_cm + (ahrs.get_home().alt - origin.alt); return alt_above_home_cm + (ahrs.get_home().alt - origin.alt);
} }
// pv_alt_above_home - convert altitude above EKF origin to altitude above home
float Sub::pv_alt_above_home(float alt_above_origin_cm)
{
const struct Location &origin = inertial_nav.get_origin();
return alt_above_origin_cm + (origin.alt - ahrs.get_home().alt);
}
// pv_get_bearing_cd - return bearing in centi-degrees between two positions // pv_get_bearing_cd - return bearing in centi-degrees between two positions
float Sub::pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination) float Sub::pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination)
{ {
@ -44,10 +37,3 @@ float Sub::pv_get_horizontal_distance_cm(const Vector3f &origin, const Vector3f
{ {
return norm(destination.x-origin.x,destination.y-origin.y); return norm(destination.x-origin.x,destination.y-origin.y);
} }
// returns distance between a destination and home in cm
float Sub::pv_distance_to_home_cm(const Vector3f &destination)
{
Vector3f home = pv_location_to_vector(ahrs.get_home());
return pv_get_horizontal_distance_cm(home, destination);
}